Cover Image

VIMPPI: Enhancing Model Predictive Path Integral Control with Variational Integration for Underactuated Systems

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Alentev, Igor, Kozlov, Lev, Domrachev, Ivan, Nedelchev, Simeon, Ryu, Jee-Hwan
Format:	Preprint
Published:	2025
Subjects:	Systems and Control Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Transformer-Based Model Predictive Path Integral Control
by: Zinage, Shrenik, et al.
Published: (2024)

IANN-MPPI: Interaction-Aware Neural Network-Enhanced Model Predictive Path Integral Approach for Autonomous Driving
by: Ryu, Kanghyun, et al.
Published: (2025)

Multi-Modal Model Predictive Path Integral Control for Collision Avoidance
by: Bertipaglia, Alberto, et al.
Published: (2025)

Real-Time Model Predictive Control for the Swing-Up Problem of an Underactuated Double Pendulum
by: Burchard, Blanka, et al.
Published: (2025)

Model Predictive Path Integral PID Control for Learning-Based Path Following
by: Kato, Teruki, et al.
Published: (2026)

Sampling Strategy Design for Model Predictive Path Integral Control on Legged Robot Locomotion
by: Tao, Chuyuan, et al.
Published: (2026)

Model Predictive Path Integral Methods with Reach-Avoid Tasks and Control Barrier Functions
by: Parwana, Hardik, et al.
Published: (2024)

An Unsupervised C-Uniform Trajectory Sampler with Applications to Model Predictive Path Integral Control
by: Poyrazoglu, O. Goktug, et al.
Published: (2025)

LP-MPPI: Low-Pass Filtering for Efficient Model Predictive Path Integral Control
by: Kicki, Piotr
Published: (2025)

Ground and Flight Locomotion for Two-Wheeled Drones via Model Predictive Path Integral Control
by: Kojima, Gosuke, et al.
Published: (2025)

Integrating Predictive Motion Uncertainties with Distributionally Robust Risk-Aware Control for Safe Robot Navigation in Crowds
by: Ryu, Kanghyun, et al.
Published: (2024)

Path Integral Control with Rollout Clustering and Dynamic Obstacles
by: Patrick, Steven, et al.
Published: (2024)

Model Predictive Path Integral Control of I2RIS Robot Using RBF Identifier and Extended Kalman Filter
by: Esfandiari, Mojtaba, et al.
Published: (2025)

Nonlinear Model Predictive Control-Based Reverse Path-Planning and Path-Tracking Control of a Vehicle with Trailer System
by: Cao, Xincheng, et al.
Published: (2025)

Advancing Frontiers of Path Integral Theory for Stochastic Optimal Control
by: Patil, Apurva
Published: (2025)

$π$-MPPI: A Projection-based Model Predictive Path Integral Scheme for Smooth Optimal Control of Fixed-Wing Aerial Vehicles
by: Andrejev, Edvin Martin, et al.
Published: (2025)

Robust Co-Design of Canonical Underactuated Systems for Increased Certifiable Stability
by: Girlanda, Federico, et al.
Published: (2024)

Reinforcement Learning Control for Autonomous Hydraulic Material Handling Machines with Underactuated Tools
by: Spinelli, Filippo A., et al.
Published: (2024)

Kinodynamic Motion Planning via Funnel Control for Underactuated Unmanned Surface Vehicles
by: Lapandić, Dženan, et al.
Published: (2023)

Simultaneous Position-and-Stiffness Control of Underactuated Antagonistic Tendon-Driven Continuum Robots
by: Yi, Bowen, et al.
Published: (2023)

Vibration Damping in Underactuated Cable-suspended Artwork -- Flying Belt Motion Control
by: Goubej, Martin, et al.
Published: (2025)

VisioPath: Vision-Language Enhanced Model Predictive Control for Safe Autonomous Navigation in Mixed Traffic
by: Wang, Shanting, et al.
Published: (2025)

Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces
by: Gao, Yuan, et al.
Published: (2024)

Task Hierarchical Control via Null-Space Projection and Path Integral Approach
by: Patil, Apurva, et al.
Published: (2025)

Underactuated Biomimetic Autonomous Underwater Vehicle for Ecosystem Monitoring
by: Singh, Kaustubh, et al.
Published: (2025)

Adaptive Model Predictive Control for Differential-Algebraic Systems towards a Higher Path Accuracy for Physically Coupled Robots
by: Ye, Xin, et al.
Published: (2024)

Stranding Risk for Underactuated Vessels in Complex Ocean Currents: Analysis and Controllers
by: Doering, Andreas, et al.
Published: (2023)

Safety-Conscious Pushing on Diverse Oriented Surfaces with Underactuated Aerial Vehicles
by: Hui, Tong, et al.
Published: (2024)

Orbital Stabilization and Time Synchronization of Unstable Periodic Motions in Underactuated Robots
by: Maksim, Surov
Published: (2025)

A Model Predictive Control Framework to Enhance Safety and Quality in Mobile Additive Manufacturing Systems
by: Li, Yifei, et al.
Published: (2025)

Structural Integrality in Task Assignment and Path Finding via Total Unimodularity of Petri Net Models
by: Hustiu, Ioana, et al.
Published: (2025)

Multi-AAV Cooperative Path Planning using Nonlinear Model Predictive Control with Localization Constraints
by: Manoharan, Amith, et al.
Published: (2022)

Model Predictive Control with Visibility Graphs for Humanoid Path Planning and Tracking Against Adversarial Opponents
by: Hou, Ruochen, et al.
Published: (2025)

Model Predictive Path-Following Control for a Quadrotor
by: Leprich, David, et al.
Published: (2025)

XR-DT: Extended Reality-Enhanced Digital Twin for Safe Motion Planning via Human-Aware Model Predictive Path Integral Control
by: Wang, Tianyi, et al.
Published: (2025)

SEP-NMPC: Safety Enhanced Passivity-Based Nonlinear Model Predictive Control for a UAV Slung Payload System
by: Rezaei, Seyedreza, et al.
Published: (2026)

Multi-Timescale Model Predictive Control for Slow-Fast Systems
by: Schroth, Lukas, et al.
Published: (2025)

Simultaneous System Identification and Model Predictive Control with No Dynamic Regret
by: Zhou, Hongyu, et al.
Published: (2024)

Trajectory Planning with Signal Temporal Logic Costs using Deterministic Path Integral Optimization
by: Halder, Patrick, et al.
Published: (2025)

Learning-Based Design of Off-Policy Gaussian Controllers: Integrating Model Predictive Control and Gaussian Process Regression
by: Tekumatla, Shiva Kumar, et al.
Published: (2024)